Class Matcher_Point2Plane

Defined in File Matcher_Point2Plane.h

Inheritance Relationships

Base Type

public mp2p_icp::Matcher_Points_Base (Class Matcher_Points_Base)

Class Documentation

class Matcher_Point2Plane : public mp2p_icp::Matcher_Points_Base 

Pointcloud matcher: point to plane-fit of nearby points

Finds point-to-plane pairings between local point layers and points fitting a plane in layers of the global input metric map.

By default, each local point layer is matched against the layer with the same name in the global map, unless specified otherwise in the base class member weight_pt2pt_layers. Refer to example configuration YAML files for example configurations.

Public Functions

Matcher_Point2Plane()

virtual void initialize(const mrpt::containers::yaml &params) override

Parameters:

distanceThreshold: Max. inliers pt-plane distance [meters][mandatory]

Plus: the parameters of Matcher_Points_Base::initialize()